161[Adjustment]AdjustmentDamping ControlOutlineThis function reduces the vibration by removingthe vibration frequency component from the com-mand when the load end of the machine vibrates.Applicable RangeThis function can only be applicable when the following conditions are satisfied.CautionWhen you change the parameter setup or switch with VS-SEL, stop the action first then execute.This function does not work properly or no effect is obtained under the following conditions.How to Use(1) Setup of damping frequency (1st : SV.Pr2B, 2nd : SV.Pr2D)Measure the vibration frequency of the front edge of the machine.When you use such instrument as laser displacement meter, and candirectly measure the load end vibration, read out the vibration fre-quency from the measured waveform and enter it to SV.Pr2B orSV.Pr2D (2nd vibration suppression frequency).(2) Setup of damping filter (1st : SV.Pr2C, 2nd : SV.Pr2E)First, set up 0.You can reduce the settling time by setting up largervalue, however, the torque ripple increases at thecommand changing point as the right fig. shows.Setup within the range where no torque saturationoccurs under the actual condition. If torque satura-tion occurs, damping control effect will be lost.Limit the damping filter setup with the following formula.10.0 [Hz] – Damping frequency<= Damping filter setup<= Damping frequency(3) Setup of damping filter switching selection(SV.Pr24)You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine.Control modeConditions under which the damping control is activated• Control mode to be either or both position control or/and full-closed control. SV.Pr02 = 0 : Position control SV.Pr02 = 6 : Full-closed controlCommand speedPosition deviationCalculation of vibration frequencyTorque commandTorque saturationDamping filter setup is too large.Damping filter setup is appropriate.Switching mode No switching ( Both of 2 are valid.) Switch with command direction. CCW : 1st damping filter CW : 2nd damping filterSV.Pr24 0, 1 2Servo driverMotor positionMotorCoupling Ball screwWorktravelDriverPLCSetup of front edge vibration frequencyMotorEncoderLoadPosition command Damping filter Position/Velocity controlTorque commandCurrent controlMachine baseFront edge vibrates. Vibration measurement with displacement sensorMotor currentLoadConditions which obstruct the damping control effect• Vibration is triggered by other factors than command (such as disturbance). • Ratio of resonance frequency and anti-resonance frequency is large. • Vibration frequency is out of the range of 10.0 to 200.0 [Hz].
